modelRotationalFriction
Extends from URDFModelica.Icons.BaseIcon, Modelica.Mechanics.Rotational.Interfaces.PartialElementaryTwoFlangesAndSupport2 (Partial model for a component with two rotational 1-dim. shaft flanges and a support used for textual modeling, i.e., for elementary models).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Boolean | useSupport (from PartialElementaryTwoFlangesAndSupport2) | false | = true, if support flange enabled, otherwise implicitly grounded |
| Modelica.Units.SI.Torque | Rh | 0 | sticking friction |
| Real | Rv | 1 | viscous friction coefficient |
| Real | steep | 100 | steepness of sticking friction approximation |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Flange_a | flange_a (from PartialElementaryTwoFlangesAndSupport2) | Flange of left shaft | |
| Flange_b | flange_b (from PartialElementaryTwoFlangesAndSupport2) | Flange of right shaft | |
| Support | support (from PartialElementaryTwoFlangesAndSupport2) | Support/housing of component |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Units.SI.Torque | tau_r | Friction torque | |
| Modelica.Units.SI.AngularVelocity | w | Absolute angular velocity of flange_a and flange_b | |
| Modelica.Units.SI.Angle | phi | Angle between shaft flanges (flange_a, flange_b) and support |